三自由度空间并联机械臂的逆动力学与仿真

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI:10.1109/ROBOT.2003.1242226

Yu-Wen Li, Jinsong Wang, Liping Wang, Xinjun Liu

{"title":"三自由度空间并联机械臂的逆动力学与仿真","authors":"Yu-Wen Li, Jinsong Wang, Liping Wang, Xinjun Liu","doi":"10.1109/ROBOT.2003.1242226","DOIUrl":null,"url":null,"abstract":"Recently the parallel manipulators with less DOF have attracted the researchers, but works on their dynamics are relative few. In this paper, an inverse dynamic formulation is presented by the Newton-Euler approach for a spatial parallel manipulator, which has two translational degrees of freedom and one rotational degree of freedom. The inverse kinematics analysis is firstly performed in closed form. Then the force and moment equilibrium equations for the manipulator are presented. According to the kinematic constraints of the legs and the platform, some joint constraint forces are eliminated and an algorithm to solve the actuator forces is given. In addition, ADAMS is used to perform the kinematic and dynamic simulation for the manipulator. The simulation results are compared to those derived from algebraic formulae and the comparison shows the validity of the mathematical model.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"58","resultStr":"{\"title\":\"Inverse dynamics and simulation of a 3-DOF spatial parallel manipulator\",\"authors\":\"Yu-Wen Li, Jinsong Wang, Liping Wang, Xinjun Liu\",\"doi\":\"10.1109/ROBOT.2003.1242226\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Recently the parallel manipulators with less DOF have attracted the researchers, but works on their dynamics are relative few. In this paper, an inverse dynamic formulation is presented by the Newton-Euler approach for a spatial parallel manipulator, which has two translational degrees of freedom and one rotational degree of freedom. The inverse kinematics analysis is firstly performed in closed form. Then the force and moment equilibrium equations for the manipulator are presented. According to the kinematic constraints of the legs and the platform, some joint constraint forces are eliminated and an algorithm to solve the actuator forces is given. In addition, ADAMS is used to perform the kinematic and dynamic simulation for the manipulator. The simulation results are compared to those derived from algebraic formulae and the comparison shows the validity of the mathematical model.\",\"PeriodicalId\":315346,\"journal\":{\"name\":\"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)\",\"volume\":\"17 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2003-11-10\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"58\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBOT.2003.1242226\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBOT.2003.1242226","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 58

摘要

近年来，小自由度并联机器人的研究越来越受到人们的关注，但对其动力学的研究相对较少。针对具有两个平移自由度和一个旋转自由度的空间并联机械臂，利用牛顿-欧拉方法给出了其逆动力学表达式。首先以封闭形式进行运动学逆分析。然后给出了机械手的力和力矩平衡方程。根据腿和平台的运动约束，消除了部分关节约束，给出了执行器力的求解算法。此外，利用ADAMS对机械手进行了运动学和动力学仿真。仿真结果与代数公式的计算结果进行了比较，验证了数学模型的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Inverse dynamics and simulation of a 3-DOF spatial parallel manipulator

Recently the parallel manipulators with less DOF have attracted the researchers, but works on their dynamics are relative few. In this paper, an inverse dynamic formulation is presented by the Newton-Euler approach for a spatial parallel manipulator, which has two translational degrees of freedom and one rotational degree of freedom. The inverse kinematics analysis is firstly performed in closed form. Then the force and moment equilibrium equations for the manipulator are presented. According to the kinematic constraints of the legs and the platform, some joint constraint forces are eliminated and an algorithm to solve the actuator forces is given. In addition, ADAMS is used to perform the kinematic and dynamic simulation for the manipulator. The simulation results are compared to those derived from algebraic formulae and the comparison shows the validity of the mathematical model.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)

自引率

0.00%

发文量